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1 International Journal of Applied Mathematics and Computer Science

1 2011

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Motion representations for the Lafferriere-Sussmann algorithm for nilpotent control systems

Dulęba I., Jagodziński J.

International Journal of Applied Mathematics and Computer Science

2011

Vol. 21, no 3

525-534

In this paper, an extension of the Lafferriere-Sussmann algorithm of motion planning for driftless nilpotent control systems is analyzed. It is aimed at making more numerous admissible representations of motion in the algorithm. The representations allow designing a shape of trajectories joining the initial and final configuration of the motion planning task. This feature is especially important in motion planning in a cluttered environment. Some natural functions are introduced to measure the shape of a trajectory in the configuration space and to evaluate trajectories corresponding to different representations of motion.